IQ.Pilot Release Commit @ 2b39aa6

selfdrive/controls/lib/longcontrol.py

@@ -47,6 +47,7 @@ class LongControl:
                              (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
                              rate=1 / DT_CTRL)
     self.last_output_accel = 0.0
+    self.stopping_decel_rate = CP_IQ.stoppingDecelRateOverride or 1.0
     self.smooth = SmoothStopController()
 
   def reset(self):
@@ -75,7 +76,7 @@ class LongControl:
       if output_accel > self.CP.stopAccel:
         output_accel = min(output_accel, 0.0)
         # TODO: can we just go straight to stopAccel?
-        output_accel -= 1.0 * DT_CTRL  # m/s^2/s while trying to stop
+        output_accel -= self.stopping_decel_rate * DT_CTRL  # m/s^2/s while trying to stop
       self.reset()
       self.smooth.reset()
 

selfdrive/selfdrived/selfdrived.py

@@ -745,7 +745,16 @@ class SelfdriveD(GapButtonActions):
       self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
       self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
       self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
-      self.personality = self.params.get("LongitudinalPersonality", return_default=True)
+      # Params can be changed while selfdrived is running. Keep the live value in
+      # the same valid enum range enforced during startup; otherwise a stale value
+      # (for example 3) makes the alert callback lookup raise KeyError and kills
+      # selfdrived.
+      self.personality = get_sanitize_int_param(
+        "LongitudinalPersonality",
+        min(log.LongitudinalPersonality.schema.enumerants.values()),
+        max(log.LongitudinalPersonality.schema.enumerants.values()),
+        self.params,
+      )
       self.nav_exit_lane_change = self._read_nav_exit_lane_change()
       self.model_download_pending = self.params.get("ModelManager_DownloadIndex") is not None
 

selfdrive/selfdrived/tests/test_longitudinal_pref_persistence.py

@@ -1,6 +1,6 @@
 from cereal import car
 
-from openpilot.selfdrive.selfdrived.selfdrived import _cleanup_startup_params
+from openpilot.selfdrive.selfdrived.selfdrived import _cleanup_startup_params, get_sanitize_int_param
 
 
 class DummyParams:
@@ -21,3 +21,20 @@ class TestLongitudinalPrefPersistence:
     _cleanup_startup_params(cp, params)
 
     assert params.removed == []
+
+  def test_invalid_personality_is_clamped_before_use(self):
+    class ParamsWithInvalidPersonality:
+      def __init__(self):
+        self.value = 3
+
+      def get(self, key: str, return_default: bool = False) -> int:
+        assert key == "LongitudinalPersonality"
+        return self.value
+
+      def put(self, key: str, value: int) -> None:
+        assert key == "LongitudinalPersonality"
+        self.value = value
+
+    params = ParamsWithInvalidPersonality()
+    assert get_sanitize_int_param("LongitudinalPersonality", 0, 2, params) == 2
+    assert params.value == 2

selfdrive/ui/layouts/settings/developer.py

@@ -24,6 +24,14 @@ DESCRIPTIONS = {
     "Exposes a snapshot of recent dashcam clips and logs as a USB drive when connected to a computer. " +
     "IQ.Pilot keeps running while this is enabled."
   ),
+  'long_maneuver': tr_noop(
+    "Commands a scripted sequence of acceleration steps to measure longitudinal actuator response. " +
+    "Requires IQ.Pilot longitudinal control. Only use on a clear, closed road."
+  ),
+  'lat_maneuver': tr_noop(
+    "Commands a scripted sequence of lateral acceleration steps to measure steering actuator response. " +
+    "Only use on a straight, flat, clear road."
+  ),
 }
 
 
@@ -59,6 +67,20 @@ class DeveloperLayout(Widget):
     )
     self._ssh_keys = ssh_key_item(lambda: tr("SSH Keys"), description=lambda: tr(DESCRIPTIONS["ssh_key"]))
 
+    self._long_maneuver_toggle = toggle_item(
+      lambda: tr("Longitudinal Maneuver Mode"),
+      description=lambda: tr(DESCRIPTIONS["long_maneuver"]),
+      initial_state=self._params.get_bool("LongitudinalManeuverMode"),
+      callback=self._on_long_maneuver_mode,
+    )
+
+    self._lat_maneuver_toggle = toggle_item(
+      lambda: tr("Lateral Maneuver Mode"),
+      description=lambda: tr(DESCRIPTIONS["lat_maneuver"]),
+      initial_state=self._params.get_bool("LateralManeuverMode"),
+      callback=self._on_lat_maneuver_mode,
+    )
+
     self._on_enable_ui_debug(self._params.get_bool("ShowDebugInfo"))
 
     self._scroller = Scroller([
@@ -66,6 +88,8 @@ class DeveloperLayout(Widget):
       self._usb_storage_toggle,
       self._ssh_toggle,
       self._ssh_keys,
+      self._long_maneuver_toggle,
+      self._lat_maneuver_toggle,
     ], line_separator=True, spacing=0)
 
     # Toggles should be not available to change in onroad state
@@ -81,12 +105,24 @@ class DeveloperLayout(Widget):
   def _update_toggles(self):
     ui_state.update_params()
 
+    for item in (self._long_maneuver_toggle, self._lat_maneuver_toggle):
+      item.set_visible(not self._is_release)
+
+    if ui_state.CP is not None:
+      self._long_maneuver_toggle.action_item.set_enabled(ui_state.has_longitudinal_control and ui_state.is_offroad())
+      self._lat_maneuver_toggle.action_item.set_enabled(ui_state.is_offroad())
+    else:
+      self._long_maneuver_toggle.action_item.set_enabled(False)
+      self._lat_maneuver_toggle.action_item.set_enabled(False)
+
     # TODO: make a param control list item so we don't need to manage internal state as much here
     # refresh toggles from params to mirror external changes
     for key, item in (
       ("AdbEnabled", self._adb_toggle),
       ("UsbStorageEnabled", self._usb_storage_toggle),
       ("SshEnabled", self._ssh_toggle),
+      ("LongitudinalManeuverMode", self._long_maneuver_toggle),
+      ("LateralManeuverMode", self._lat_maneuver_toggle),
     ):
       item.action_item.set_state(self._params.get_bool(key))
 
@@ -108,7 +144,12 @@ class DeveloperLayout(Widget):
   def _on_long_maneuver_mode(self, state: bool):
     self._params.put_bool("LongitudinalManeuverMode", state)
     self._params.put_bool("JoystickDebugMode", False)
+    self._params.put_bool("LateralManeuverMode", False)
+    self._lat_maneuver_toggle.action_item.set_state(False)
 
   def _on_lat_maneuver_mode(self, state: bool):
     self._params.put_bool("LateralManeuverMode", state)
     self._params.put_bool("JoystickDebugMode", False)
+    self._params.put_bool("ExperimentalMode", False)
+    self._params.put_bool("LongitudinalManeuverMode", False)
+    self._long_maneuver_toggle.action_item.set_state(False)